clc;
clear;

syms t th1(t) th2(t) th3(t) th4(t) th5(t) 
d2 = 0.2;
a2 = 0.23;
a4 = 0.23;
d5 = 0.07;

joint_limit = [-150 150;-120 120;-100 100;-110 110 ;-180  180];


%debug结果：这个link的参数就是它自己的，所以与dh表还不太一样
%，因为a，alpha，d，theta的号数得一样
l1 = Link('alpha',-pi/2,'a',0,'d',0);
l2 = Link('alpha',0,'a',a2,'d',d2);
l3 = Link('alpha',0,'a',a4,'d',0);
l4 = Link('revolute','alpha',-pi/2,'a',0,'d',0,'offset',-pi/2);
l5 = Link('alpha',0,'a',0,'d',d5);

bot = SerialLink([ l1 l2 l3 l4 l5],'name','5r_bot')

bot.plot([ 0 0 0 0 0])


%okkkkkkkkkkkkkkkkkkkkkkkkkkkkk!